Method for locating carriageway markings in a motor vehicle and motor vehicle

Abstract

The approach relates to a method for locating roadway markings by a motor vehicle, wherein the motor vehicle has a camera, the image data from which are evaluated into roadway marking data describing the presence and the position of roadway markings. At least one ground penetrating radar sensor of the motor vehicle is directed at the ground being driven over, the radar data from which sensor is evaluated to determine ground data describing the ground structure of the ground being driven over. A mapping database is used in which roadway marking data indicating the presence of roadway markings and ground data assigned to the same recording location are stored in association with one another. At least on detection of a ground covering obscuring roadway markings in the camera data using the ground data, a current ground structure is compared on the basis of the ground data with at least one or more ground structures in the database and, in the event of a match, the roadway marking data associated with the ground data of the matching ground structure are used.

1 .- 13 . (canceled) 
     
     
         14 . A method for locating roadway markings by a motor vehicle, the method comprising:
 directing a ground penetrating radar sensor of the motor vehicle at ground being driven over;   determining ground data describing a ground structure of the ground being driven over by evaluating radar data from the ground penetrating radar sensor;   storing, in a mapping database, roadway marking data indicating a presence of roadway markings and associated ground data assigned to a recording location;   based on detection, in image data from a camera, of a ground covering obscuring roadway markings, comparing a current ground structure with one or more ground structures in the mapping database; and   in the event of a match found in the comparing, using the roadway marking data associated with the ground data of the matching ground structure.   
     
     
         15 . The method of  claim 14 , wherein the ground penetrating radar sensor has at least one of a penetration depth of at least 0.5 m, a carrier frequency between about 1 MHz and about 1 GHz, or a frequency bandwidth of at least 250 MHz. 
     
     
         16 . The method of  claim 14 , wherein the ground penetrating radar sensor uses a pulse radar or a continuous wave radar. 
     
     
         17 . The method of  claim 14 , wherein the directing the ground penetrating radar sensor further comprises:
 orienting the ground penetrating radar sensor perpendicularly to a direction of travel, wherein the ground penetrating radar sensor uses a synthetic aperture.   
     
     
         18 . The method of  claim 14 , further comprising:
 assigning, in the mapping database, to the ground data and the roadway marking data associated with the ground data, at least one of absolute position information or position information relating to a digital map.   
     
     
         19 . The method of  claim 18 , wherein the comparing the current ground structure with one or more ground structures in the mapping database further comprises:
 restricting, for use in the comparing, an amount of data to an area around a current position information of the motor vehicle.   
     
     
         20 . The method of  claim 19 , wherein the comparing the current ground structure with one or more ground structures in the mapping database further comprises:
 retrieving, from the mapping database, data to form a local database for use in the comparing, wherein the mapping database is located outside the motor vehicle, and wherein the data describing the area and/or a region encompassing the position of the motor vehicle.   
     
     
         21 . The method of  claim 14 , wherein the evaluating the radar data includes abstracting the ground structure described by the radar data to thereby reduce the amount of data. 
     
     
         22 . The method of  claim 21 , wherein the determining the ground data incudes using reflection objects that meet a relevance criterion, wherein the relevance criterion requires at least one of a minimum size or a minimum reflectivity, or
 the method further comprises:   assigning the reflection objects that have been included, an object class by classification, the object class being at least one of a crack class or an inclusion object class.   
     
     
         23 . The method of  claim 14 , further comprising:
 evaluating the current roadway marking data to determine at least one of a lane width, a roadway width, a number of lanes, or a lane assignment for the host vehicle and/or at least one other road user.   
     
     
         24 . The method of  claim 14 , further comprising:
 evaluating the roadway marking data for a vehicle system, the being at least one of a driver assistance system or a vehicle system designed for at least partially automatic driving.   
     
     
         25 . The method of  claim 14 , further comprising:
 determining, during at least one trip, using the motor vehicle and/or at least one structurally identical motor vehicle, ground data and roadway marking data to thereby generate the mapping database; and   storing in association with one another in the mapping database, roadway marking data and ground data that are assigned to a same recording location, and indicate the presence of roadway markings.   
     
     
         26 . A motor vehicle comprising:
 a camera;   a ground penetrating radar sensor; and   a control device configured to carry out a method for locating roadway markings, the method comprising:
 directing a ground penetrating radar sensor of the motor vehicle at ground being driven over; 
 determining ground data describing a ground structure of the ground being driven over by evaluating radar data from the ground penetrating radar sensor; 
 storing, in a mapping database, roadway marking data indicating a presence of roadway markings and associated ground data assigned to a recording location; 
 based on detection, in image data from a camera, of a ground covering obscuring roadway markings, comparing a current ground structure with one or more ground structures in the mapping database; and 
 in the event of a match found in the comparing, using the roadway marking data associated with the ground data of the matching ground structure.